Topology Optimization of High-Speed Flexible Robot Arms.
Fanny, M., Shabara, M., Alkalla, M. (2020). Topology Optimization of High-Speed Flexible Robot Arms.. EKB Journal Management System, 38(1), 103-116. doi: 10.21608/bfemu.2020.116706
M. Fanny; Mohamed Ahmed Nasr Shabara; M. G. Alkalla. "Topology Optimization of High-Speed Flexible Robot Arms.". EKB Journal Management System, 38, 1, 2020, 103-116. doi: 10.21608/bfemu.2020.116706
Fanny, M., Shabara, M., Alkalla, M. (2020). 'Topology Optimization of High-Speed Flexible Robot Arms.', EKB Journal Management System, 38(1), pp. 103-116. doi: 10.21608/bfemu.2020.116706
Fanny, M., Shabara, M., Alkalla, M. Topology Optimization of High-Speed Flexible Robot Arms.. EKB Journal Management System, 2020; 38(1): 103-116. doi: 10.21608/bfemu.2020.116706

Topology Optimization of High-Speed Flexible Robot Arms.

MEJ- Mansoura Engineering Journal
Article 13, Volume 38, Issue 1, March 2013, Page 103-116  XML PDF (17.67 MB)
Document Type: Research Studies
DOI: 10.21608/bfemu.2020.116706
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Authors
M. Fanny1; Mohamed Ahmed Nasr Shabara2; M. G. Alkalla* 3
1Associate professor., Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.
2professor of Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.
3Demonstrator., Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.
Abstract
There are growing demands in the robot industry for light structures in order to increase the speed of the robot motion and thus the productivity. Size and shape optimization are carried out previously to achieve minimum traveling time of the robot arm taking into consideration its flexibility. In this work, topology optimization is introduced for obtaining optimum robot arm to achieve minimum traveling time from both structure and control viewpoints. Method of Moving Asymptotes is used as optimization technique, because it can handle arbitrary number of constrains and considered to be a general and flexible optimization method. A comparison is accomplished between the optimal resulted design and its initial design for different dimensions of robot arm neglecting air damping. It is found that the reduction ratio of the travelling time reaches 62% and the reduction ratio of the weight reaches 70%. A comparison between this work using topology optimization of flexible robot arm outperforms the size and the shape optimization when considering the real condition that takes into account the air damping. The optimum topological design in this case gives reduction ratio of travelling time equals 44.8%, while previous work gives 23.5%.
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